Foot pedal control device of fly-by-wire aircraft

Abstract

The invention discloses a fly-by-wire aircraft pedal control device which comprises a main pedal assembly, and the main pedal assembly comprises a support. A pedal rotating shaft is fixed to the top of the front end of the support and rotationally connected with two supporting arms, the free end of each supporting arm is connected with a pedal, a connecting arm extends out of the rear end of each pedal, the connecting arms are hinged to the movable end of a brake instruction sensor, and the fixed end of each brake instruction sensor is hinged to one end of a brake rocker arm. The other end of the brake rocker arm is fixedly connected with the pedal rotating shaft; the end part of the main shaft is connected with an angular displacement instruction sensor; the main shaft is connected with a yaw damper, a load mechanism and a pedal force sensor through a connecting rod structure; the main shaft is fixedly connected with the center position of a position adjusting mechanism, and the two sides of the position adjusting mechanism are hinged to the two supporting arms through transmission rods respectively. Complete functions are achieved in a small space, excessive connecting structures are avoided, the weight is reduced, and the installation and maintenance difficulty is lowered.

Description

Technical Field

[0001] The invention belongs to the field of aircraft pedal control and relates to a fly-by-wire aircraft pedal control device. Background Art

[0002] The basic function of the aircraft pedal control device is to allow the pilot to control the aircraft yaw through the pedals; it also has the function of improving the pilot's control quality and aircraft performance, providing control balance, and meeting the specified design requirements and use requirements. As aircraft performance requirements become higher and higher, the aircraft's flight altitude and flight speed range are also expanding, and aircraft with mechanical control systems cannot meet the needs.

[0003] The traditional mechanical pedal control system is relatively bulky, and is also subject to the adverse effects of inherent nonlinear factors such as friction, clearance and hysteresis. Its stability and other problems cannot be solved within the scope of pure mechanical control or mechanical reversible power-assisted control systems.

[0004] At present, all advanced main combat aircraft at home and abroad adopt fly-by-wire flight control systems, which can not only effectively improve the flight quality and maneuverability of the aircraft, but also significantly change the control characteristics of the aircraft compared with the mechanical control system aircraft.

[0005] However, in the fly-by-wire flight control system, various fly-by-wire components are scattered in different areas of the aircraft, making installation and maintenance difficult. Summary of the invention

[0006] The purpose of the present invention is to overcome the shortcomings of the above-mentioned prior art that the fly-by-wire components are dispersedly arranged, and to provide a fly-by-wire aircraft pedal control device with an integrated design, which greatly reduces the weight and occupied space, and also reduces the difficulty of installation and maintenance.

[0007] In order to achieve the above object, the present invention adopts the following technical solutions:

[0008] A pedal control device for a fly-by-wire aircraft includes a main pedal assembly, wherein the main pedal assembly includes a bracket;

[0009] A pedal shaft is fixed to the top of the front end of the bracket, and two support arms are rotatably connected to the pedal shaft, and the free end of each support arm is connected to a pedal board, and a connecting arm extends from the rear end of the pedal board, and the connecting arm is hinged with the movable end of the brake command sensor, and the fixed end of the brake command sensor is hinged with one end of the brake rocker arm, and the other end of the brake rocker arm is fixedly connected to the pedal shaft;

[0010] The bracket is rotatably connected to a main shaft, and an angular displacement command sensor is connected to the end of the main shaft; the main shaft is connected to a yaw damper, a load mechanism and a pedal force sensor through a connecting rod structure;

[0011] The main shaft is fixedly connected with the center position of the position adjustment mechanism, and the two sides of the position adjustment mechanism are respectively hinged with two supporting arms by using a transmission rod.

[0012] Preferably, the angular displacement sensor is fixed to the top of the bracket, and the output shaft is connected to the top of the main shaft.

[0013] Preferably, rocker arms are hinged at both ends of the load mechanism, one of the rocker arms is fixedly connected to the main shaft, and the other rocker arm is fixedly connected to a vertical connecting shaft, and the connecting shaft is rotatably connected to the bracket.

[0014] Furthermore, the connecting shaft is fixedly connected to one end of a balancing rocker arm, the other end of the balancing rocker arm is hinged to one end of a balancing mechanism, and the other end of the balancing mechanism is hinged to the bracket.

[0015] Preferably, the yaw damper is fixed on the bracket, and the output shaft of the yaw damper is connected to the main shaft through a parallelogram mechanism.

[0016] Preferably, a through hole is provided at the center of the position adjustment mechanism, an inner wall of the through hole is provided with internal teeth, an outer tooth is provided on the main shaft, the through hole is sleeved on the main shaft, and the inner tooth and the outer tooth are meshed.

[0017] Preferably, a support rod extends downward from the axis of the position adjustment mechanism, the fixed end of the pedal force sensor is hinged to the bottom of the support rod, and the strain end is hinged to the main shaft through a rocker arm.

[0018] Preferably, the main pedal assembly is alternately provided with a secondary pedal assembly. Except that the balancing mechanism is not provided, the rest of the structure of the secondary pedal assembly is the same as that of the main pedal assembly. The load mechanism of the main pedal assembly is connected to the load mechanism of the secondary pedal assembly by a balancing rod, and a linkage release rod is connected between the main shaft of the main pedal assembly and the main shaft of the secondary pedal assembly.

[0019] Furthermore, rocker arms are hinged at both ends of the load mechanism of the main foot pedal assembly, one of the rocker arms is fixedly connected to the main load shaft of the main foot pedal assembly, and the other rocker arm is fixedly connected to a vertical connecting shaft, which is rotatably connected to the load bracket of the main foot pedal assembly, and the connecting shaft is fixedly connected to one end of a balancing rocker arm, and the other end of the balancing rocker arm is connected to one end of a balancing rod, and the other end of the balancing rod is connected to the balancing rocker arm of the auxiliary foot pedal assembly, thereby connecting to the load mechanism of the auxiliary foot pedal assembly.

[0020] Furthermore, the main shaft of the main pedal assembly and the main shaft of the auxiliary pedal assembly are both fixedly connected with triangular rocker arms, and the two triangular rocker arms are respectively hinged to the two ends of the linkage release rod.

[0021] Compared with the prior art, the present invention has the following beneficial effects:

[0022] The present invention provides the driver with good yaw control, braking, human-machine interface and suitable yaw pedal force-pedal displacement characteristics, and connects the components corresponding to the above functions with the main shaft through a connecting rod structure, thereby realizing an integrated setting, achieving complete functions in a smaller space, avoiding the use of too many connection structures, reducing weight, and reducing the difficulty of installation and maintenance.

[0023] Furthermore, the balancing, synchronization, yaw linkage and release functions of the left and right pedal assemblies are realized. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 It is a schematic diagram of the structure of the fly-by-wire aircraft pedal control device of the present invention;

[0025] Figure 2 It is a first schematic diagram of the main pedal assembly structure of the present invention;

[0026] Figure 3 This is a second schematic diagram of the main pedal assembly structure of the present invention.

[0027] Among them: 1-main pedal assembly, 2-balancing rod, 3-auxiliary pedal assembly, 4-linkage release rod, 5-mounting plate, 6-bracket, 7-large sleeve, 8-support arm, 9-small sleeve, 10-brake rocker arm, 11-pedal shaft, 12-balancing mechanism, 13-balancing rocker arm, 14-pedal, 15 brake command sensor, 16-load mechanism, 17-angular displacement command sensor, 18-main shaft, 19-yaw damper, 20-triangular rocker arm, 21-pedal force sensor arm, 22-position adjustment mechanism. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments; based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0029] It should be noted that the words "front", "rear", "left", "right", "up" and "down" used in the following description refer to directions in the drawings, and the words "inside" and "outside" refer to directions toward or away from the geometric center of a specific component, respectively.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those generally understood by those skilled in the art of the present invention. The terms used herein in the specification of the present invention are only for the purpose of describing specific embodiments and are not intended to limit the present invention. The term "and / or" used herein includes any and all combinations of one or more related listed items.

[0031] like Figure 1 As shown, the fly-by-wire aircraft pedal control device of the present invention includes a mounting plate 5, the mounting plate 5 is used to fix the device on the aircraft, a main pedal assembly 1 and a secondary pedal assembly 3 are arranged on the mounting plate 5 at intervals, the main and secondary pedal assemblies are connected by a linkage release rod 4, and the balancing force is transmitted through the balancing rod 2.

[0032] The main pedal assembly 1 is provided with a bracket 6, and the bracket 6 is mounted on the mounting plate 5 by bolt fasteners. A pedal shaft 11 is provided on the top of the front end of the bracket 6. Both ends of the pedal shaft 11 are fixed to the bracket 6. The pedal shaft 11 is mounted on the bracket 6 by bolt fasteners. Two support arms 8 are mounted on the pedal shaft 11 by bearings and rotate around the pedal shaft 11.

[0033] A pedal 14 is installed at the free end of each support arm 8 through a bearing. A connecting arm extends from the rear end of the pedal 14. The connecting arm is hinged to the movable end of the brake command sensor 15. The fixed end of the brake command sensor 15 is hinged to one end of the brake rocker arm 10. The other end of the brake rocker arm 10 is fixedly connected to the pedal shaft 11. The pedal 14 can rotate around the support arm 8 and drive the movable end of the brake command sensor 15 to move. The brake command sensor 15 adopts an LVDT sensor.

[0034] The large shaft sleeve 7 and the small shaft sleeve 9 are both fixed on the pedal shaft 11 and are respectively installed on both sides of the support arm 8 to limit and support the support arm 8 and prevent the support arm 8 from sliding to both sides along the pedal shaft 11.

[0035] The main shaft 18 is rotatably connected to the center position of the bracket 6. The load mechanism 16, the yaw damper 19, the pedal force sensor 21 and the position adjustment mechanism 22 are all arranged behind the bracket 6. The main shaft 18 is connected to the load mechanism 16, the yaw damper 19, the position adjustment mechanism 22, the pedal force sensor 21 and the triangular rocker arm 20 from top to bottom. The top of the bracket 6 is provided with an angular displacement command sensor 17, a balancing mechanism 12 and a balancing rocker arm 13, and the balancing rocker arm 13 and the bracket 6 are rotatably connected.

[0036] The housing of the angular displacement sensor 17 is fixed to the top of the bracket 6, and the output shaft is connected to the top of the main shaft to detect the yaw rotation angle and send the data to the flight control computer.

[0037] The load mechanism 16 is hinged with rocker arms at both ends, one of which is fixedly connected to the main shaft 18, and the other is fixedly connected to the balancing rocker arm 13 via a vertical connecting shaft. The load mechanism 16 and the two rocker arms connected thereto form a parallelogram mechanism. When the main shaft 18 rotates, it drives the load mechanism 16 to be pulled out or retracted, providing it with a sense of force.

[0038] The trim rocker arm 13 has a V-shaped structure, and the connecting shaft is connected to the bent end of the trim rocker arm 13. One free end of the trim rocker arm 13 is hinged to one end of the trim mechanism 12, and the other end of the trim mechanism 12 is hinged to the bracket 6. The other free end of the trim rocker arm 13 is hinged to one end of the trim rod.

[0039] The yaw damper 19 is fixed on the bracket 6, and the output shaft of the yaw damper 19 is connected to the main shaft 18 through a pull rod assembly and a rocker arm to form a parallelogram mechanism. The yaw damper 19 provides a damping force for the yaw motion to counteract the instantaneous overload of the pedal control force.

[0040] The center of the position adjustment mechanism 22 is fixedly connected to the main shaft 18. A through hole is provided at the center of the position adjustment mechanism 22. Internal teeth are provided on the inner wall of the through hole. External teeth are provided on the main shaft 18. The through hole is sleeved on the main shaft 18, and the internal teeth and the external teeth are meshed. The two sides of the position adjustment mechanism 22 are respectively hinged to the two arms 8 through transmission rods to form a connecting rod mechanism. The transmission rod, the position adjustment mechanism 22 and the arm 8 are all hinged with a universal joint. When the pilot steps on a single pedal 14 to drive the corresponding arm 8 to rotate, the two sides of the position adjustment mechanism 22 move forward and backward with the two arms 8, rotate around the main shaft 18, and drive the main shaft 18 to rotate synchronously.

[0041] A support rod extends downward from the axis of the position adjustment mechanism 22, and the fixed end of the pedal force sensor 21 is hinged at the bottom of the support rod, and the strain end is hinged to the main shaft 18 through a rocker arm to form a parallelogram mechanism. The pedal force sensor 21 is used to detect the pedal force value input by the driver when performing yaw control, and feed it back to the flight control computer.

[0042] The main shaft 18 is fixedly connected with a triangular rocker arm 20, and the triangular rocker arm 20 has two other mechanical interfaces, one interface is used for articulating the linkage release rod 4, and the other is a reserved interface for mechanical backup.

[0043] The two ends of the linkage release rod 4 are respectively connected to the triangular rocker arms 20 of the main and auxiliary pedal assemblies. The linkage release rod 4 realizes the disconnection of the left and right driving positions when the main and auxiliary pilots operate inconsistently, and at the same time provides two release device release signals to the flight control system to meet the requirements of warning and non-destructiveness to flight crew errors. When any control channel of the main and auxiliary pilot positions is stuck, causing the tensile and compressive loads of the release device to be greater than a certain value, the release device is disengaged and is in a released state, freely extending and retracting within a certain length range, so that the main and auxiliary pilot position control devices are separated from each other.

[0044] The yaw damper 19 and the load mechanism 16 are respectively located on the left and right sides of the bracket 6, and are located on the rear side of the bracket 6 near the top. The position adjustment mechanism 22 is located in the middle of the main shaft 18. The pedal force sensor 21 is located below the position adjustment mechanism 22. The angular displacement sensor 17 and the linkage release rod 4 are respectively connected to the top and bottom ends of the main shaft 18. Therefore, within the limited length of the main shaft 18, the above components are all connected to themselves and move synchronously, thereby saving vertical space and realizing an integrated design.

[0045] When the position adjustment mechanism 22 rotates, the main shaft 18 is driven to rotate, and at the same time, the load mechanism 16, the yaw damper 19, the pedal force sensor 21 and the triangular rocker arm 20 are driven to move together. At the same time, the load mechanism 16 is connected to the trim mechanism 12 through the trim rocker arm 13. When the load mechanism 16 moves a certain displacement, the pilot can send a command signal to the trim mechanism 12 through the flight control computer to realize manual trimming.

[0046] Except that the balancing mechanism 12 is not provided, the rest of the structure of the auxiliary foot pedal assembly 3 is exactly the same as that of the main foot pedal assembly 1. One end of the balancing rod 2 is hinged to the balancing rocker arm 13 of the main foot pedal assembly 1, and the other end is connected to the balancing rocker arm 13 of the auxiliary foot pedal assembly 3, and then connected to the load mechanism 16 of the auxiliary foot pedal assembly 3.

[0047] The pilot can realize two modes by operating the pedals 14 differently. When the pilot steps on a single pedal 14 to drive the support arm 8 to rotate, the position adjustment mechanism 22 drives the main shaft 18 to rotate, and the aircraft performs yaw motion. When the pilot steps on two pedals 14 at the same time and the pedals 14 rotate around the support arm 8, the connecting arm drives the movable end of the brake command sensor 15 to move relative to the fixed end, and the aircraft decelerates.

[0048] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0049] It should be understood that the above description is for illustration and not for limitation. Many embodiments and many applications beyond the examples provided will be apparent to those skilled in the art upon reading the above description. Therefore, the scope of the present teachings should not be determined with reference to the above description, but rather with reference to the foregoing claims and the full scope of equivalents to which such claims are entitled. For the purpose of comprehensiveness, all articles and references, including disclosures of patent applications and publications, are incorporated herein by reference. The omission of any aspect of the subject matter disclosed herein in the foregoing claims is not intended to be a waiver of such subject matter, nor should it be considered that the applicant has not considered such subject matter to be part of the disclosed inventive subject matter.

Claims

1. A pedal control device for a fly-by-wire aircraft, It is characterized in that The main pedal assembly (1) includes a bracket (6); A pedal shaft (11) is fixed to the top of the front end of the bracket (6), and two support arms (8) are rotatably connected to the pedal shaft (11), and the free end of each support arm (8) is connected to a pedal (14). A connecting arm extends from the rear end of the pedal (14), and the connecting arm is hinged to the movable end of a brake command sensor (15). The fixed end of the brake command sensor (15) is hinged to one end of a brake rocker arm (10), and the other end of the brake rocker arm (10) is fixedly connected to the pedal shaft (11); The bracket (6) is rotatably connected to a main shaft (18), and an angular displacement command sensor is connected to the end of the main shaft (18); the main shaft (18) is connected to a yaw damper (19), a load mechanism (16) and a pedal force sensor (21) via a connecting rod structure; The main shaft (18) is fixedly connected to the center position of the position adjustment mechanism (22), and the two sides of the position adjustment mechanism (22) are respectively hinged to the two supporting arms (8) by using transmission rods.

2. The fly-by-wire aircraft pedal control device according to claim 1, It is characterized in that The angular displacement sensor (17) is fixed on the top of the bracket (6), and the output shaft is connected to the top of the main shaft.

3. The fly-by-wire aircraft pedal control device according to claim 1, It is characterized in that Rockers are hinged at both ends of the load mechanism (16), one of the rockers is fixedly connected to the main shaft (18), and the other rocker is fixedly connected to a vertical connecting shaft, which is rotatably connected to the bracket (6).

4. The fly-by-wire aircraft pedal control device according to claim 3, It is characterized in that The connecting shaft is fixedly connected to one end of a balancing rocker arm (13), the other end of the balancing rocker arm (13) is hinged to one end of a balancing mechanism (12), and the other end of the balancing mechanism (12) is hinged to the bracket (6).

5. The fly-by-wire aircraft pedal control device according to claim 1, It is characterized in that The yaw damper (19) is fixed on the bracket (6), and the output shaft of the yaw damper (19) is connected to the main shaft (18) through a parallelogram mechanism.

6. The fly-by-wire aircraft pedal control device according to claim 1, It is characterized in that A through hole is arranged at the center of the position adjustment mechanism (22), the inner wall of the through hole is provided with internal teeth, the main shaft (18) is provided with external teeth, the through hole is sleeved on the main shaft (18), and the internal teeth and the external teeth are meshed.

7. The fly-by-wire aircraft pedal control device according to claim 1, It is characterized in that A support rod extends downward from the axis of the position adjustment mechanism (22); a fixed end of the pedal force sensor (21) is hinged to the bottom of the support rod, and a strain end is hinged to the main shaft (18) via a rocker arm.

8. The fly-by-wire aircraft pedal control device according to any one of claims 1 to 7, It is characterized in that The main pedal assembly (1) is provided with a secondary pedal assembly (3) at intervals. The secondary pedal assembly (3) has the same structure as the main pedal assembly (1) except that the balancing mechanism (12) is not provided. The balancing mechanism (12) of the main pedal assembly (1) is connected to the load mechanism (16) of the secondary pedal assembly (3) by a balancing rod (2). A linkage release rod (4) is connected between the main shaft (18) of the main pedal assembly (1) and the main shaft (18) of the secondary pedal assembly (3).

9. The fly-by-wire aircraft pedal control device according to claim 8, It is characterized in that Both ends of the load mechanism (16) of the main pedal assembly (1) are hinged with rocker arms, one of which is fixedly connected to the main load shaft (18) of the main pedal assembly (1), and the other rocker arm is fixedly connected to a vertical connecting shaft, which is rotatably connected to the load bracket (6) of the main pedal assembly (1), and the connecting shaft is fixedly connected to one end of a balancing rocker arm (13), the other end of the balancing rocker arm (13) is connected to one end of a balancing rod (2), and the other end of the balancing rod (2) is connected to the balancing rocker arm (13) of the auxiliary pedal assembly (3), thereby connecting to the load mechanism (16) of the auxiliary pedal assembly (3).

10. The fly-by-wire aircraft pedal control device according to claim 8, It is characterized in that The main shaft (18) of the main pedal assembly (1) and the main shaft (18) of the auxiliary pedal assembly (3) are both fixedly connected with triangular rocker arms (20), and the two triangular rocker arms (20) are respectively hinged to the two ends of the linkage release rod (4).

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